A golf swing analysis device includes a joint force calculation section and a torque extraction section. The joint force calculation section generates a double pendulum model that includes a first link that corresponds to an upper part of a body of a golfer, a second link that corresponds to a golf club, and a joint that links the first link and the second link, and calculates a joint force applied to the joint along with a swing motion using an acceleration measured by an inertial sensor attached to the golf club. The torque extraction section extracts a torque that causes the second link to make a rotational motion around a first axis from the joint force.
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1. A golf swing analysis device comprising: a communicator configured to exchange signals with a first inertial sensor attached to a golf club; and a processor configured to analyze a swing motion of the golf club performed by a golfer based on data from the first inertial sensor by the communicator, wherein the processor includes: a joint force calculation section that generates a double pendulum model that includes a first link that corresponds to an upper part of a body of the golfer, a second link that corresponds to the golf club, and a joint that links the first link and the second link, and the joint force calculation section calculates a joint force applied to the joint along with the swing motion using an acceleration and an angular velocity measured by the first inertial sensor attached to the golf club; a torque extraction section that extracts a torque and a torque component that causes the second link to make a rotational motion around a first axis from the joint force; a torque change detection section that detects a timing at which a sign of the torque detected by the torque extraction section changes; and an analytical information generation section that generates analytical information about a natural swing using the timing at which the sign of the torque changes detected by the torque change detection section or the torque component extracted by the torque extraction section, wherein the analytical information generation section determines a time at which a transition to the natural swing occurs using the timing detected by the torque change detection section.
A golf swing analysis device analyzes a golfer's swing. It has a communicator to receive data from an inertial sensor on the golf club and a processor. The processor creates a double pendulum model: the golfer's upper body as one link, the club as another, joined at a joint. It calculates the force on this joint using acceleration and angular velocity data from the club's sensor. It extracts the torque and its component causing club rotation around an axis. It detects when the torque's sign changes and uses this timing, or the torque component, to generate analytical information about a natural swing, specifically identifying the transition to this natural swing based on that timing.
2. The golf swing analysis device as defined in claim 1 , wherein: the first axis being an axis that is orthogonal to a longitudinal axis of the second link that corresponds to the golf club.
The golf swing analysis device described previously, which analyzes a golfer's swing using inertial sensor data and a double pendulum model to determine the timing of a natural swing transition, further specifies that the axis around which the golf club (second link) rotates for torque calculation is orthogonal (perpendicular) to the club's longitudinal axis (lengthwise direction).
3. The golf swing analysis device as defined in claim 2 , wherein: the first axis being an axis that is orthogonal to the longitudinal axis of the second link that corresponds to the golf club and a travel direction of the second link.
The golf swing analysis device as described previously, which analyzes a golfer's swing using inertial sensor data, a double pendulum model, and torque calculations to determine the timing of a natural swing transition, and which defines the rotation axis as orthogonal to the club's longitudinal axis, further refines the rotation axis. This axis is now defined as being orthogonal to both the club's longitudinal axis and the direction the club is traveling during the swing.
4. The golf swing analysis device as defined in claim 1 , wherein: the communicator is configured to exchange signals with a second inertial sensor attached to the upper part of the body of the golfer; and the processor is configured to have: the joint force calculation section calculate at least one component among a plurality of components obtained by decomposing the joint force using at least one of an angular velocity measured by the first inertial sensor, an acceleration measured by the second inertial sensor, and an angular velocity measured by the second inertial sensor, and the torque extraction section extract the torque component that causes the second link to make a rotational motion around the first axis from each of the plurality of components of the joint force calculated by the joint force calculation section.
The golf swing analysis device, described previously, that analyzes a golfer's swing using a double pendulum model and torque calculations based on data from an inertial sensor on the golf club, expands its capabilities. It now includes a second inertial sensor on the golfer's upper body. The processor calculates joint force components using angular velocity from the club sensor and acceleration/angular velocity from the body sensor. The torque extraction section then isolates the torque component causing rotation around the specified axis from each of these joint force components.
5. The golf swing analysis device as defined in claim 1 , wherein: the communicator is configured to exchange signals with a second inertial sensor attached to the upper part of the body of the golfer; and the processor is configured to have: the joint force calculation section calculate a component of the joint force in a travel direction of the second link using the angular velocity measured by the first inertial sensor, and calculate a component of the joint force in a longitudinal axis direction of the first link using an angular velocity measured by the second inertial sensor, and the torque extraction section extract the torque component that causes the second link to make a rotational motion around the first axis from each of the component in the travel direction of the second link and the component in the longitudinal axis direction of the first link calculated by the joint force calculation section.
The golf swing analysis device previously described, that uses inertial sensors and a double pendulum model to analyze a golf swing, now incorporates two inertial sensors: one on the golf club and one on the golfer's upper body. The processor calculates the joint force component in the club's travel direction using the club sensor's angular velocity, and the joint force component along the upper body's longitudinal axis using the body sensor's angular velocity. The torque extraction then derives the torque component causing club rotation from both these calculated force components.
6. The golf swing analysis device as defined in claim 1 , wherein: the first link corresponding to a virtual line that connects a center point of a line that connects shoulders of the golfer and a grip of the golf club.
In the golf swing analysis device described previously that uses a double pendulum model (golfer's upper body and golf club), the "first link" representing the golfer's upper body is defined as a virtual line connecting the midpoint between the golfer's shoulders and the grip of the golf club. This clarifies the geometric representation used in the double pendulum model for calculating joint forces and torques.
7. The golf swing analysis device as defined in claim 1 further comprises: a display that depicts information provided by the processor, wherein the processor further includes an image data generation section that generates image data based on the torque extracted by the torque extraction section and the analytical information determined by the analytical information generation section, and the information depicted by the display is based on the image data from the image data generation section.
The golf swing analysis device, analyzing a golfer's swing using inertial sensors, a double pendulum model, and torque calculations, now includes a display screen. The processor incorporates an image data generation section. This section creates image data based on the extracted torque and the analytical information about the natural swing. The display then shows information derived from this generated image data, providing visual feedback to the user about their swing.
8. The golf swing analysis device as defined in claim 7 , wherein: the torque extraction section determines time-series data of the torque; the torque change detection section detects the time at which the sign of the torque changes from negative to positive before an impact time of the golf club based on the time-series data; the analytical information generation section identifies the time at which the sign of the torque changes as the time of transition to the natural swing; the image data generation section generates the image data that is indicative of a graph that plots the time-series data and identifies the impact time, a start time provided as a predetermined time period before the impact time, and the time of the natural swing; and the display depicts the graph based on the image data from the image data generation section.
The golf swing analysis device with a display, as previously defined, which uses inertial sensors, a double pendulum model, torque calculations, and now image data generation to provide visual feedback, operates as follows: The torque extraction section creates a time-series dataset of the calculated torque. The torque change detection identifies the point where the torque changes from negative to positive before impact. The analytical information generation section designates this point as the "natural swing" transition time. The image data generation creates a graph of the torque time-series, marking impact time, a start time (predetermined period before impact), and the natural swing time. The display shows this graph.
9. The golf swing analysis device as defined in claim 1 wherein: the torque extraction section determines time-series data of the torque; the torque change detection section detects the time at which the sign of the torque changes from negative to positive before an impact time of the golf club based on the time-series data; and the analytical information generation section identifies the time at which the sign of the torque changes as the time of transition to the natural swing.
The golf swing analysis device previously described, which analyzes a golfer's swing using inertial sensors and a double pendulum model for torque calculations, determines the transition to a natural swing by: generating a time-series dataset of the calculated torque; detecting the moment when the torque's sign changes from negative to positive before the club's impact; and identifying this torque sign change as the precise time of the transition to the natural swing.
11. A golf swing analysis device comprising: a communicator configured to exchange signals with a first inertial sensor attached to a golf club and a second inertial sensor attached to an upper part of a body of a golfer; and a processor configured to analyze a swing motion of the golf club performed by a golfer based on data received from the first inertial sensor and the second inertial sensor by way of the communicator, wherein the processor includes: a joint force calculation section that generates a double pendulum model that includes a first link that corresponds to the upper part of the body of the golfer, a second link that corresponds to the golf club, and a joint that links the first link and the second link, and the joint force calculation section calculates at least one component among a plurality of components obtained by decomposing a joint force applied to the joint along with the swing motion using at least one of an angular velocity measured by the first inertial sensor attached to the golf club, an acceleration measured by the second inertial sensor attached to the upper part of the body of the golfer, and an angular velocity measured by the second inertial sensor; a torque extraction section that extracts a torque and a torque component that causes the second link to make a rotational motion around a first axis from each component of the joint force calculated by the joint force calculation section; a torque change detection section that detects a timing at which a sign of the torque detected by the torque extraction section changes; and an analytical information generation section that generates analytical information about a natural swing using the timing detected by the torque change detection section at which the sign of the torque changes, or the torque component extracted by the torque extraction section, wherein the analytical information generation section determines a time at which a transition to the natural swing occurs using the timing detected by the torque change detection section.
A golf swing analysis device analyzes a golfer's swing using two inertial sensors: one on the golf club and one on the golfer's upper body. A communicator receives data from both sensors. A processor creates a double pendulum model (golfer's upper body as one link, golf club as another, connected at a joint). It calculates components of the joint force using angular velocity from the club sensor, and acceleration/angular velocity from the body sensor. It extracts the torque component causing club rotation around a specific axis from each joint force component. It detects when the torque's sign changes and uses this timing to generate analytical information about a natural swing, specifically the transition to this natural swing.
12. A golf swing analysis method comprising: generating a double pendulum model that includes a first link that corresponds to an upper part of a body of a golfer, a second link that corresponds to a golf club, and a joint that links the first link and the second link; calculating a joint force applied to the joint along with a swing motion using an acceleration and an angular velocity measured by a first inertial sensor attached to the golf club; extracting a torque and a torque component that causes the second link to make a rotational motion around a first axis from the joint force; detecting a timing at which a sign of the torque changes; generating analytical information about a natural swing using the timing detected at which the sign of the torque changes or the torque component extracted; and determining a time at which a transition to the natural swing occurs using the timing at which the sign of the torque changes.
A golf swing analysis method involves: creating a double pendulum model with the golfer's upper body and golf club as linked segments; calculating the joint force using acceleration and angular velocity from an inertial sensor on the golf club; extracting the torque component that rotates the club around an axis from this joint force; detecting the timing when the torque's sign changes; generating analytical information about the natural swing using this timing or the extracted torque component; and determining the time of transition to the natural swing based on this torque sign change timing.
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November 12, 2013
March 28, 2017
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